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Decoupling imu from config - acc_unarmedcal.

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This commit is contained in:
Dominic Clifton 2014-06-07 02:27:07 +01:00
parent 5f4a464f50
commit 2bbbf9937d
3 changed files with 4 additions and 1 deletions
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2
src/main/flight/imu.c
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@ -245,7 +245,7 @@ void acc_calc(uint32_t deltaT)
rotateV(&accel_ned.V, &rpy);
if (currentProfile.acc_unarmedcal == 1) {
if (imuRuntimeConfig->acc_unarmedcal == 1) {
if (!f.ARMED) {
accZoffset -= accZoffset / 64;
accZoffset += accel_ned.V.Z;